CN101239588A - Vehicle and control method thereof, power output apparatus and control method thereof, and driving system and control method thereof - Google Patents

Vehicle and control method thereof, power output apparatus and control method thereof, and driving system and control method thereof Download PDF

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Publication number
CN101239588A
CN101239588A CNA2008100048005A CN200810004800A CN101239588A CN 101239588 A CN101239588 A CN 101239588A CN A2008100048005 A CNA2008100048005 A CN A2008100048005A CN 200810004800 A CN200810004800 A CN 200810004800A CN 101239588 A CN101239588 A CN 101239588A
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CN
China
Prior art keywords
power
braking force
ratio
electrical motor
regenerative brake
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Granted
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CNA2008100048005A
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Chinese (zh)
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CN101239588B (en
Inventor
木村秋广
上冈清城
田岛阳一
青木刚志
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Aisin AW Co Ltd
Toyota Motor Corp
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Aisin AW Co Ltd
Toyota Motor Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
    • B60W20/13—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B60K6/48—Parallel type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K17/00—Arrangement or mounting of transmissions in vehicles
    • B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
    • B60K17/354—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having separate mechanical assemblies for transmitting drive to the front or to the rear wheels or set of wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
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    • B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
    • B60K6/52—Driving a plurality of drive axles, e.g. four-wheel drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
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    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
    • B60L50/15—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with additional electric power supply
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
    • B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B60L7/18—Controlling the braking effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
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    • B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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    • Y10S903/00—Hybrid electric vehicles, HEVS
    • Y10S903/902—Prime movers comprising electrical and internal combustion motors
    • Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
    • Y10S903/945—Characterized by control of gearing, e.g. control of transmission ratio

Abstract

In response to a driver's braking request operation, for example, the driver's depression of a brake pedal 85, a hybrid vehicle 20 sets a fraction of a regenerative braking torque by a motor MG 2 and a fraction of a braking torque by a brake unit 90 relative to a preset braking torque demand Tr* according to the setting of a speed change ratio in a transmission 60 (steps S 280, S 290, S 310, S 320, S 390, and S 400 ). The hybrid vehicle 20 controls the motor MG 2 to output the regenerative braking torque based on the preset braking torque demand Tr* and the set fraction of the regenerative braking torque, while controlling the brake unit 90 to enable the braking torque based on the preset braking force demand Tr* and the regenerative braking torque by the motor MG 2 to be applied in a distributive manner at a preset front-rear braking torque distribution ratio 'd' to front wheels 39a and 39b and to rear wheels 39c and 39d.

Description

Vehicle, motive power outputting apparatus, drive system and their control method
Technical field
The present invention relates to the power operated vehicle that outputs to front-wheel and trailing wheel respectively, be installed in motive power outputting apparatus and drive system on this vehicle, and the control method of this vehicle, this motive power outputting apparatus and this drive system.
Background technology
The structure of the motive power outputting apparatus of known a kind of motor vehicle driven by mixed power that is used to be equipped with hydraulic brake unit, it comprises axle drive shaft, via sun and planet gear and axle drive shaft bonded assembly driving engine, be connected to the electrical generator of sun and planet gear and via change-speed box and axle drive shaft bonded assembly electrical motor (for example, referring to the open No.2006-187158 of Japanese Patent).The speed change state of change-speed box changes under the situation of Lo gear from the Hi gear when electrical motor being regenerated control in order to make car brakeing, this motive power outputting apparatus is set the torque instruction of electrical motor for regenerative brake power is reduced to zero gradually, and the reducing of the total braking force of using the braking force that is applied by hydraulic brake unit to compensate to be caused.This is intended to prevent the caused torque shock ends of speed change (variation of total braking force) of change-speed box.
The motive power outputting apparatus of this known configurations is not limited to f-w-d vehicle or rear wheel drive vehicle, and can also be applied to and will output to the 4Wdvehicle of the power distribution of axle drive shaft to front-wheel and trailing wheel.Yet the list of references of being quoted is not disclosed in the 4Wdvehicle that is equipped with this motive power outputting apparatus, the control of braking under the situation of the speed change state variation of change-speed box under the regeneration control of electrical motor.
Summary of the invention
For with outputing to the power driven of front-wheel and trailing wheel respectively and being equipped with the vehicle that regenerative brake power can be outputed to the electrical motor of speed change transferring structure, the demand of optimizing its control of braking is arranged.Wish also that in this vehicle the control of braking the when speed change state of speed change transferring structure under the regeneration of electrical motor control is changed is optimized.
The control method of control method, motive power outputting apparatus and the motive power outputting apparatus of the present invention by following structure being applied to vehicle and vehicle and the control method of drive system and drive system realize above-described needs.
An aspect of of the present present invention relates to the vehicle that drives with the power that outputs to front-wheel and trailing wheel respectively.This vehicle comprises: primary shaft, and it is connected with front-wheel; Second, it is connected with trailing wheel; Combustion engine, it outputs power to predetermined axle drive shaft; The power distribution transmission mechanism, its power that will output to axle drive shaft is delivered to primary shaft and second in the mode of distributing; Electrical motor, its will be at least regenerative brake power output to the output shaft of electrical motor, described output shaft is one of axle drive shaft, primary shaft and second; Electricity accumulating unit, its with power transmission to electrical motor and from the electrical motor transferring electric power; The speed change transferring structure, its change that can be accompanied by converter speed ratio between the output shaft of shaft of motor and electrical motor comes transferring power; Stop mechanism, it can irrespectively be applied to front-wheel and trailing wheel with braking force independently with driver's braking solicit operation; Required braking force is set module, and it sets driver's the required required braking force of braking solicit operation; The braking ratio is set module, it is when the braking solicit operation that the driver is arranged, according to the set condition of the converter speed ratio of speed change transferring structure, set braking force that the regenerative brake power that provided by electrical motor provides with respect to the ratio of the required braking force that sets with by stop mechanism ratio with respect to the required braking force that sets; And brake controller, its control motor is with the regenerative brake power of output based on the ratio of required braking force that sets and the regenerative brake power that sets, and control brake mechanism is so that the braking force of the regenerative brake power that provides based on the required braking force that sets with by electrical motor can be applied to front-wheel and trailing wheel in the mode of distributing according to allotment ratio before and after predetermined simultaneously.
Vehicle outfitting according to one aspect of the invention has electrical motor, its will be at least regenerative brake power output to the output shaft of electrical motor via the speed change transferring structure, described output shaft is one of axle drive shaft, primary shaft and second, and described vehicle outfitting has stop mechanism, and it can irrespectively be applied to front-wheel and trailing wheel with braking force independently with driver's braking solicit operation.By the power that outputs to axle drive shaft at least of combustion engine is assigned to primary shaft and second by means of the power distribution transmission mechanism and come powered vehicle with the power that outputs to front-wheel and trailing wheel respectively.Braking solicit operation in response to the driver, vehicle is according to the set condition of the converter speed ratio of speed change transferring structure, and braking force that the regenerative brake power that provided by electrical motor provides with respect to the ratio of the required braking force that sets with by the stop mechanism ratio with respect to the required braking force that sets is provided.The vehicle control motor is with the regenerative brake power of output based on the ratio of required braking force that sets and the regenerative brake power that sets, and control brake mechanism is so that the braking force of the regenerative brake power that provides based on the required braking force that sets with by electrical motor can be applied to front-wheel and trailing wheel in the mode of distributing according to allotment ratio before and after predetermined simultaneously.Set braking force that regenerative brake power that electrical motor provides provides with respect to the ratio and the stop mechanism of the required braking force that sets ratio according to the set condition of converter speed ratio in the speed change transferring structure with respect to the required braking force that sets, even make and also reducing during the car brakeing effectively before the converter speed ratio of speed change transferring structure changes and the variation of braking force afterwards, and guaranteed the smooth change of converter speed ratio.The braking force of the regenerative brake power that provides based on the required braking force that sets and electrical motor is applied to front-wheel and trailing wheel according to allotment ratio before and after predetermined in the mode of distributing.This has advantageously reduced the variation that changes brakig force distribution between front and back front-wheel and the trailing wheel at converter speed ratio, and has guaranteed good deceleration and stopping performance.Technology of the present invention has been optimized vehicle braked control effectively, and wherein this vehicle drives with the power that outputs to front-wheel and trailing wheel respectively, and is equipped with the electrical motor that regenerative brake power can be outputed to the speed change transferring structure.
In an advantageous applications of according to an aspect of the present invention vehicle, the front and back allotment ratio is a fixed value.This layout has been guaranteed deceleration and stopping performance good under the situation that does not make the control of braking complicated operation.In the vehicle of this application, the power distribution transmission mechanism can be delivered to primary shaft and second according to the allotment ratio of allotment ratio before and after equaling in the mode of distributing with the power that outputs to axle drive shaft.
In another advantageous applications of vehicle, when the change of the converter speed ratio of expection speed change transferring structure, the braking ratio sets that module is provided by the ratio of the regenerative brake power that is provided by electrical motor and the ratio of the braking force that provided by stop mechanism, with reducing gradually of the regenerative brake power that realizes providing by electrical motor, the increase gradually of the braking force that provides by stop mechanism simultaneously.In the regenerative brake power process that output motor provides in response to chaufeur braking solicit operation, the braking force that the maximum possible part of regenerative brake power was braked mechanism before the converter speed ratio actual change of speed change transferring structure provide replaces.Such control has advantageously reduced the variation (torque shock ends) of the caused braking force of the actual change of converter speed ratio of speed change transferring structure.In the vehicle of this application, during the change of the converter speed ratio of speed change transferring structure, the braking ratio is set module regenerative brake power is set at zero with respect to the ratio of the required braking force that sets.This makes the converter speed ratio that has further reduced the speed change transferring structure change the variation (torque shock ends) of caused braking force.
In another advantageous applications of vehicle, the converter speed ratio of speed change transferring structure is more little, and the braking ratio is set module and just regenerative brake power is set at more little value with respect to the ratio of the required braking force that sets.In the vehicle braked process, it is higher that the converter speed ratio of speed change transferring structure changes to big value (deceleration) trend from little value.The converter speed ratio of speed change transferring structure is low more, just set more for a short time with respect to the ratio of the required braking force that sets regenerative brake power, this reduced effectively braking force that regenerative brake power is braked mechanism and provides replace before and after the variation of braking force, and guaranteed the smooth change of the converter speed ratio of speed change transferring structure.
In a preferred embodiment, vehicle also comprises electric machinery power in-out box, electric machinery power in-out box is connected to the axle of axle drive shaft and combustion engine, can making at least a portion of the outputting power of combustion engine be delivered to axle drive shaft by electric power and mechanokinetic input and output, and with power transmission to electricity accumulating unit with from the electricity accumulating unit transferring electric power.In a preferred structure of the vehicle of this embodiment, electric machinery power in-out box has: the electrical motor of generating usefulness that can input and output power; And the triple axle power input/output structure that is connected to three axles, described three axles are the described axle of axle drive shaft, combustion engine and the shaft of motor of generating usefulness, and triple axle power input/output structure is based on the power of any two axle input and output from three axles and to remaining an axle input and output power.
According on the other hand, the present invention relates to a kind of control method of vehicle, vehicle is equipped with: primary shaft, it is connected with front-wheel; Second, it is connected with trailing wheel; Combustion engine, it outputs power to predetermined axle drive shaft; The power distribution transmission mechanism, its power that will output to axle drive shaft is delivered to primary shaft and second in the mode of distributing; Electrical motor, its will be at least regenerative brake power output to the output shaft of electrical motor, output shaft is one of axle drive shaft, primary shaft and second; Electricity accumulating unit, its with power transmission to electrical motor and from the electrical motor transferring electric power; The speed change transferring structure, its change that can be accompanied by converter speed ratio between the output shaft of shaft of motor and electrical motor comes transferring power; And stop mechanism, it can irrespectively be applied to front-wheel and trailing wheel with braking force independently with driver's braking solicit operation.The control method of this vehicle may further comprise the steps: the required required braking force of braking solicit operation of (a) setting the driver; (b), set the regenerative brake power that provides by electrical motor with respect to the ratio of the required braking force of in step (a), setting and the braking force that provides by stop mechanism ratio with respect to the required braking force of setting in step (a) according to the set condition of the converter speed ratio of speed change transferring structure; And (c) control motor with output based on the required braking force of in step (a), setting and in step (b) the regenerative brake power of the ratio of the regenerative brake power of setting, control brake mechanism simultaneously is so that the braking force of the regenerative brake power that provides based on the required braking force of setting in step (a) with by electrical motor can be applied to front-wheel and trailing wheel in the mode of distribution according to allotment ratio before and after predetermined.
Set braking force that regenerative brake power that electrical motor provides provides with respect to the ratio and the stop mechanism of the required braking force that sets ratio according to the set condition of converter speed ratio in the speed change transferring structure with respect to the required braking force that sets, even make the converter speed ratio that in the car brakeing process, has also reduced the speed change transferring structure effectively change the variation of front and back braking force, and guaranteed the level and smooth change of converter speed ratio.The braking force of the regenerative brake power that will provide based on the required braking force that sets and electrical motor is applied to front-wheel and trailing wheel according to allotment ratio before and after predetermined in the mode of distributing.This has advantageously reduced the variation that changes brakig force distribution between front and back front-wheel and the trailing wheel at converter speed ratio, and has guaranteed good deceleration and stopping performance.Optimized vehicle braked control effectively according to control method of the present invention, wherein this vehicle drives with the power that outputs to front-wheel and trailing wheel respectively, and is equipped with the electrical motor that regenerative brake power can be outputed to the speed change transferring structure.
In a preferred embodiment of the control method of vehicle, the power distribution transmission mechanism will output to axle drive shaft in the mode of distribution according to the allotment ratio that equates with the front and back allotment ratio transmission of power is to primary shaft and second, and step (c) control brake mechanism is so that braking force can be applied to front-wheel and trailing wheel according to the front and back allotment ratio of fixed value.
In another preferred embodiment of the control method of vehicle, when the change of the converter speed ratio of expection speed change transferring structure, step (b) is set the ratio of the regenerative brake power that is provided by electrical motor and the ratio of the braking force that provided by stop mechanism, with reducing gradually of the regenerative brake power that realizes providing by electrical motor, the increase gradually of the braking force that provides by stop mechanism simultaneously.In the control method of present embodiment, during the change of the converter speed ratio of speed change transferring structure, step (b) is set at zero with regenerative brake power with respect to the ratio of the required braking force that sets.
In a preferred embodiment of the control method of vehicle, the converter speed ratio of speed change transferring structure is more little, and step (b) just is set at more little value with regenerative brake power with respect to the ratio of the required braking force that sets.
According to another aspect, the present invention relates to a kind of motive power outputting apparatus that is installed on the vehicle, this vehicle is equipped with the stop mechanism that can irrespectively braking force be applied to independently front-wheel and trailing wheel with driver's braking solicit operation.Motive power outputting apparatus comprises: primary shaft, and it is connected with front-wheel; Second, it is connected with trailing wheel; Combustion engine, it outputs power to predetermined axle drive shaft; The power distribution transmission mechanism, its power that will output to axle drive shaft is delivered to primary shaft and second in the mode of distributing; Electrical motor, its general regenerative brake power at least outputs to axle drive shaft; Electricity accumulating unit, its with power transmission to electrical motor and from the electrical motor transferring electric power; The speed change transferring structure, its change that can be accompanied by converter speed ratio between shaft of motor and axle drive shaft comes transferring power; Required braking force is set module, and it sets driver's the required required braking force of braking solicit operation; The braking ratio is set module, it is when the braking solicit operation that the driver is arranged, according to the set condition of the converter speed ratio of speed change transferring structure, set braking force that the regenerative brake power that provided by electrical motor provides with respect to the ratio of the required braking force that sets with by stop mechanism ratio with respect to the required braking force that sets; And brake controller, its control motor is with the regenerative brake power of output based on the ratio of required braking force that sets and the regenerative brake power that sets, and control brake mechanism is so that the braking force of the regenerative brake power that provides based on the required braking force that sets with by electrical motor can be applied to front-wheel and trailing wheel in the mode of distributing according to allotment ratio before and after predetermined simultaneously.
The invention still further relates to a kind of control method of motive power outputting apparatus.This motive power outputting apparatus comprises: primary shaft; Second; Combustion engine, it outputs power to predetermined axle drive shaft; The power distribution transmission mechanism, its power that will output to axle drive shaft is delivered to primary shaft and second in the mode of distributing; Electrical motor, its general regenerative brake power at least outputs to axle drive shaft; Electricity accumulating unit, its with power transmission to electrical motor and from the electrical motor transferring electric power; And speed change transferring structure, its change that can be accompanied by converter speed ratio between shaft of motor and axle drive shaft comes transferring power, wherein, motive power outputting apparatus is installed on the vehicle, this vehicle be equipped with can irrespectively braking force be applied to independently with driver's braking solicit operation with primary shaft bonded assembly front-wheel and with the stop mechanism of second bonded assembly trailing wheel.The control method of this motive power outputting apparatus may further comprise the steps: the required required braking force of braking solicit operation of (a) setting the driver; (b), set the regenerative brake power that provides by electrical motor with respect to the ratio of the required braking force of in step (a), setting and the braking force that provides by stop mechanism ratio with respect to the required braking force of setting in step (a) according to the set condition of the converter speed ratio of speed change transferring structure; And (c) control motor with output based on the required braking force of in step (a), setting and in step (b) the regenerative brake power of the ratio of the regenerative brake power of setting, control brake mechanism simultaneously is so that the braking force of the regenerative brake power that provides based on the required braking force of setting in step (a) with by electrical motor can be applied to front-wheel and trailing wheel in the mode of distribution according to allotment ratio before and after predetermined.
According to another aspect of the invention, the present invention relates to a kind of drive system that is installed on the vehicle, vehicle is equipped with combustion engine, electricity accumulating unit and can irrespectively braking force be applied to independently the stop mechanism of front-wheel and trailing wheel with driver's braking solicit operation.This drive system comprises: axle drive shaft, and it is connected to combustion engine; Primary shaft, it is connected with front-wheel; Second, it is connected with trailing wheel; The power distribution transmission mechanism, its power that will output to axle drive shaft is delivered to primary shaft and second in the mode of distributing; Electrical motor, it can be with power transmission to electricity accumulating unit and from the electricity accumulating unit transferring electric power, and regenerative brake power outputs to axle drive shaft at least; The speed change transferring structure, its change that can be accompanied by converter speed ratio between shaft of motor and axle drive shaft comes transferring power; Required braking force is set module, and it sets driver's the required required braking force of braking solicit operation; The braking ratio is set module, it is in response to driver's braking solicit operation, according to the set condition of the converter speed ratio of speed change transferring structure, set braking force that the regenerative brake power that provided by electrical motor provides with respect to the ratio of the required braking force that sets with by stop mechanism ratio with respect to the required braking force that sets; And brake controller, its control motor is with the regenerative brake power of output based on the ratio of required braking force that sets and the regenerative brake power that sets, and control brake mechanism is so that the braking force of the regenerative brake power that provides based on the required braking force that sets with by electrical motor can be applied to front-wheel and trailing wheel in the mode of distributing according to allotment ratio before and after predetermined simultaneously.
The invention still further relates to a kind of control method of drive system, this drive system is installed on the vehicle, and this vehicle is equipped with combustion engine, electricity accumulating unit and can irrespectively braking force be applied to independently the stop mechanism of front-wheel and trailing wheel with driver's braking solicit operation.This drive system comprises: axle drive shaft, and it is connected to combustion engine; Primary shaft, it is connected with front-wheel; Second, it is connected with trailing wheel; The power distribution transmission mechanism, its power that will output to axle drive shaft is delivered to primary shaft and second in the mode of distributing; Electrical motor, it can be with power transmission to electricity accumulating unit and from the electricity accumulating unit transferring electric power, and regenerative brake power outputs to axle drive shaft at least; And the speed change transferring structure, its change that can be accompanied by converter speed ratio between shaft of motor and axle drive shaft comes transferring power.The control method of drive system may further comprise the steps: the required required braking force of braking solicit operation of (a) setting the driver; (b), set the regenerative brake power that provides by electrical motor with respect to the ratio of the required braking force of in step (a), setting and the braking force that provides by stop mechanism ratio with respect to the required braking force of setting in step (a) according to the set condition of the converter speed ratio of speed change transferring structure; And (c) control motor with output based on the required braking force of in step (a), setting and in step (b) the regenerative brake power of the ratio of the regenerative brake power of setting, control brake mechanism simultaneously is so that the braking force of the regenerative brake power that provides based on the required braking force of setting in step (a) with by electrical motor can be applied to front-wheel and trailing wheel in the mode of distribution according to allotment ratio before and after predetermined.
Description of drawings
Fig. 1 has schematically shown the structure of motor vehicle driven by mixed power 20 according to an embodiment of the invention;
Fig. 2 shows the schematic construction of change-speed box 60.
Fig. 3 is the diagram of circuit that the control of braking routine of hybrid power ECU 70 execution in the present embodiment is shown;
Fig. 4 shows the diagram of circuit by the control of braking routine of hybrid power ECU 70 execution of present embodiment;
Fig. 5 shows the example that speed change state detects contrast figure;
Fig. 6 shows the example that contrast figure is set in the braking torque requirement; And
Fig. 7 shows regenerative brake torque that electrical motor MG2 produces and is braked the situation that braking torque that unit 90 produces replaces.
The specific embodiment
Followingly will implement a mode of the present invention with reference to accompanying drawing and be described as preferred embodiment.
Fig. 1 schematically illustrates the structure of the motor vehicle driven by mixed power 20 that is equipped with the motive power outputting apparatus that comprises drive system according to an embodiment of the invention.Motor vehicle driven by mixed power 20 as shown in Figure 1 is configured to 4Wdvehicle, and comprise driving engine 22, triple axle power distribution integrated mechanism 30, electrical motor MG1, be connected to the electrical motor MG2 of power distribution integrated mechanism 30 via change-speed box 60, transfer device 34, the hybrid power electronic control unit 70 (hereinafter referred to as " hybrid power ECU ") of the whole motor vehicle driven by mixed power operation of electric control hydraulic braking unit (being designated hereinafter simply as " brake unit ") 90 and control, wherein, triple axle power distribution integrated mechanism 30 is connected to the output shaft of bent axle or driving engine 22 via the damper (not shown), electrical motor MG1 is connected to power distribution integrated mechanism 30 and can generates electricity, and transfer device 34 is delivered to the outputting power of power distribution integrated mechanism 30 as the front propeller shaft 35 of primary shaft with as second rear propeller shaft 36 in the mode of distributing.
Driving engine 22 is to receive the supply of the hydrocarbon fuel such as gasoline or light oil and the combustion engine of outputting power.The operation (for example, fuel injection amount, timing of ignition and suction quantity) of engine electronic control unit (hereinafter referred to as " Engine ECU ") 24 control driving engines 22.Engine ECU 24 input is from the signal of measuring with the various sensors of the operation conditions of detection of engine 22 is set at driving engine 22.Engine ECU 24 is set up with hybrid power ECU 70 and is communicated by letter, driving and to control driving engine 22, and as requested the data relevant with the operation conditions of driving engine 22 are outputed to hybrid power ECU 70 in response to the control signal that receives from hybrid power ECU 70 with from the signal that various sensors receive.
Power distribution integrated mechanism 30 generally includes sun wheel 30a as external gear, as the gear ring 30b of inner gear and sun wheel 30a arranged concentric, with sun wheel 30a and a plurality of miniature gears 30c of gear ring 30b ingear with keep a plurality of miniature gears 30c to allow its revolution and around the planetary wheel carrier 30d of its rotation.Power distribution integrated mechanism 30 is configured to have sun wheel 30a, gear ring 30b as the rotating element of differential motion and the sun and planet gear of planetary wheel carrier 30d.Planetary wheel carrier 30d, sun wheel 30a in the power distribution integrated mechanism 30 and gear ring 30b be connected respectively to driving engine 22 bent axle, be connected to electrical motor MG1 and be connected to and electrical motor MG2 bonded assembly change-speed box 60 via gear ring axle 32.At electrical motor MG1 when the electrical generator, power distribution integrated mechanism 30 will be via the power of the driving engine 22 of planetary wheel carrier 30d input according to Speed Ratio Distribution to sun wheel 30a and gear ring 30b.On the other hand, when electrical motor MG1 is used as electrical motor, power distribution integrated mechanism 30 will carry out integrated via the power of the driving engine 22 of planetary wheel carrier 30d input and power via the electrical motor MG1 of sun wheel 30a input, and with integrated takeoff output to gear ring 30b.Thereby the power that outputs to gear ring 30b is delivered to transfer device 34 as the power distribution transmission mechanism by the gear ring axle 32 as axle drive shaft.
Transfer device 34 comprise with as the gear ring axle 32 of axle drive shaft, as the front propeller shaft 35 of primary shaft with as the differential limiting mechanism (differential restriction power-transfer clutch, not shown) of the differential action of second rear propeller shaft 36 bonded assembly center differential (not shown) and restriction center differential.Transfer device 34 carries out work with the power distribution that will output to gear ring axle 32 and be delivered to front propeller shaft 35 and rear propeller shaft 36.In the structure of present embodiment, transfer device 34 has the center differential of planetary gear system, and it will output to the power of gear ring axle 32 basically, and (for example, D=0.6) be assigned to rear drive shaft 36, (1-D) is assigned to front propeller shaft 35 with ratio with ratio D.Included planetary wheel carrier, sun wheel and the gear ring of the planetary gear system of center differential is connected respectively to gear ring axle 32 or axle drive shaft, is connected to front propeller shaft 35 and is connected to rear propeller shaft 36 via chain.The differential limiting mechanism of transfer device 34 is driven by electric-controlled hydraulic unit (not shown), with the included planetary wheel carrier of the planetary gear system of restriction center differential and the differential action of sun wheel, and can be with planetary wheel carrier and sun wheel direct connection.The power that is assigned to front propeller shaft 35 by means of transfer device 34 outputs to front- wheel 39a and 39b via preceding differential gear 37.The power that is assigned to rear propeller shaft 36 by means of transfer device 34 outputs to trailing wheel 39c and 39d via back differential gear 38.
Electrical motor MG1 and MG2 both are as electrical generator with as electric motor driven known motor-alternator.Electrical motor MG1 and MG2 via inverter 41 and 42 with power transmission to battery 50 and from battery 50 transferring electric powers.With inverter 41 and 42 and battery 50 bonded assembly electric wireline 54 be configured to by inverter 41 and 42 shared positive electrode bus and negative pole buses.The electric power that this layout makes among electrical motor MG1 and the MG2 electrical motor produce can be consumed by another electrical motor.Battery 50 can be used the excrescent electric power charging that is produced by electrical motor MG1 or MG2, and discharge is to replenish the deficiency of electric power.When reaching power balance between electrical motor MG1 and the MG2, battery 50 neither is recharged also and does not discharge.The operation of electrical motor MG1 and MG2 is by electric motor electron control unit (hereinafter referred to as electrical motor ECU) 40 controls.Electrical motor ECU 40 receives the required various signals of operation of control motor MG1 and MG2, for example from the signal of the position of rotation detecting sensor (not shown) of the position of rotation of the rotor that detects electrical motor MG1 and MG2, by current sensor (not shown) phase current that measure, that be applied to electrical motor MG1 and MG2 and from the motor temperature T1 and the T2 of the temperature sensor (not shown) that is respectively installed to electrical motor MG1 and MG2.Electrical motor ECU 40 outputs to inverter 41 and 42 with switch controlling signal.Electrical motor ECU 40 communicates by letter with hybrid power ECU 70, with in response to the operation that comes control motor MG1 and MG2 from hybrid power ECU 70 control signals transmitted, export the data relevant to hybrid power ECU 70 as required simultaneously with the operation conditions of electrical motor MG1 and MG2.
Battery 50 is in battery electron control unit (hereinafter referred to as battery ECU) 52 controls down.Battery ECU 52 receives the required various signals of control battery 50, for example, voltage between terminals by the measurement of the voltage sensor (not shown) between the terminal that is arranged on battery 50, by the charging and discharging currents that is installed to the current sensor measurement of the lead-out terminal bonded assembly electric wireline of battery 50, and by the measured battery temperature of temperature sensor (not shown) that is installed to battery 50.Battery ECU 52 outputs to hybrid power ECU 70 and Engine ECU 24 by communication with the data relevant with the state of battery 50 as required.Battery ECU 52 based on the charging and discharging currents by current sensor measurement of accumulation, comes the state-of-charge SOC of counting cell 50 in order to control battery 50.
Change-speed box 60 is designed to rotating shaft 33 with electrical motor MG2 to be connected with gear ring axle 32 and to disconnect, and when being connected with gear ring axle 32, rotating shaft 33 in a plurality of speed thresholds, optionally sets their converter speed ratio (being expressed as: the rotating speed of the rotating speed of rotating shaft 33/gear ring axle 32, and equal to be used for the reduction ratio of electrical motor MG2).In the structure of present embodiment, change-speed box 60 is configured to reduce with two different reduction ratios the rotating speed of the rotating shaft 33 of electrical motor MG2, and the rotating speed that will reduce is delivered to gear ring axle 32.The outputting power of electrical motor MG2 thereby the power that has been slowed down by change-speed box 60, and slow down basically are input to gear ring axle 32.On the other hand, the outputting power of gear ring axle 32 is quickened by change-speed box 60, and the power that has quickened is input to electrical motor MG2.A representative type structure of change-speed box 60 is shown in Figure 2.The change-speed box 60 of Fig. 2 has the 60a of double pinion planetary gear mechanism, single-pinion planetary gear 60b and two drg B1 and B2.The 60a of double pinion planetary gear mechanism comprise sun wheel 61 as external gear, as the gear ring 62 of inner gear and sun wheel 61 arranged concentric, with a plurality of first miniature gears 63a of sun wheel 61 ingears, with a plurality of first miniature gears 63a and with a plurality of second miniature gears 63b of gear ring 62 ingears and will a plurality of first miniature gears 63a with a plurality of second miniature gears 63b binding to allow their and revolve round the sun and around the planetary wheel carrier 64 of its rotation.In the 60a of this double pinion planetary gear mechanism, the engagement of control brake device B1 and unclamp the rotation that stops and allowing sun wheel 61.Single-pinion planetary gear 60b comprises sun wheel 65 as external gear, as the gear ring 66 of inner gear and sun wheel 65 arranged concentric, with sun wheel 65 and with a plurality of miniature gearss 67 of gear ring 66 ingears with keep a plurality of miniature gearss 67 to allow their revolution and around the planetary wheel carrier 68 of its rotation.Rotating shaft 33 and gear ring axle 32 that the sun wheel 65 of single-stage planetary gear type gear mechanism 60b and planetary wheel carrier 68 are connected respectively to electrical motor MG2.In this single-pinion planetary gear 60b, the engagement of control brake device B2 and unclamp the rotation that stops and allowing gear ring 66.The 60a of double pinion planetary gear mechanism and single pinion planetary gear structure 60b are by being connected corresponding gear ring 62 and 66 and be connected corresponding planetary wheel carrier 64 and 68 and connected to each other.In change-speed box 60, the combination that drg B1 and B2 unclamp disconnects the rotating shaft 33 of electrical motor MG2 with gear ring axle 32.Drg B1 unclamps with drg B2 ingear and makes up the rotation that has reduced the rotating shaft 33 of electrical motor MG2 with relative higher reduction ratio, and the rotation that will significantly slow down is delivered to gear ring axle 32.This state following table is shown " Lo gear ".The combination that drg B1 engagement and drg B2 unclamp has reduced the rotation of the rotating shaft 33 of electrical motor MG2 with relatively low reduction ratio, and the rotation of slight deceleration is delivered to gear ring axle 32.This state following table is shown " Hi gear ".The rotation of rotating shaft 33 and gear ring axle 32 is forbidden in drg B1 and the combination of B2 ingear.In the structure of present embodiment, regulate the hydraulic pressure that is applied to drg B1 and B2 by the operation of modulated pressure actuator (not shown), make drg B1 and B2 the engagement and unclamp.
Brake unit 90 comprises master cylinder 91, fluid pressure (hydraulic pressure) brake actuator 92, drive each is clamped between the brake pad braking electronic control unit (hereinafter referred to as " braking ECU ") 95 with the operation of the wheel cylinder 93a to 93d that friction brake force (friction braking torque) is applied to corresponding wheel 39a to 39d and control brake actuator 92 to brake pad with brake disc (it is respectively installed to front- wheel 39a and 39b and trailing wheel 39c and 39d).Although not concrete diagram, brake actuator 92 has as the pump of hydraulic power source and pressure accumulator, master cylinder cut-off electromagnetic valve, stroke simulator and braking torque independently can be applied to a plurality of valves of corresponding wheel 39a to 39d, wherein, master cylinder cut-off electromagnetic valve adjusting master cylinder 91 is connected and disconnection with each wheel cylinder 93a's to 93d, and stroke simulator produces opposing and the antagonistic force of driver to the corresponding pedal depression power of the volume under pressure of brake pedal 85.Braking ECU 95 via signal wire (SW) (not shown) input by the detected master cylinder pressure of master cylinder pressure sensor (not shown), by corresponding pressure of wheel braking cylinder sensor (not shown) detect pressure of wheel braking cylinder for the hydraulic pressure of corresponding wheel cylinder 93a to 93d, the wheel velocity measured by corresponding wheel speed sensor (not shown) and by the detected steering angle of steering angle sensor (not shown).Braking ECU 95 transmits various signals by communication and carries out hybrid power ECU 70.The operation of braking ECU 95 control brake actuators 92 is to guarantee that specific braking torque is applied to corresponding wheel 39a to 39d.Specific braking torque is corresponding to the component for the treatment of the required braking torque that applied by brake unit 90 in the total brake torque of motor vehicle driven by mixed power 20 to be applied.Braking ECU 95 also presses down irrespectively to brake pedal 85 that the work of control brake actuator 92 independently is applied to corresponding wheel 39a to 39d to guarantee braking torque with the driver.Braking ECU 95 carries out ABS control, tractive force control (TRC) and vehicle stability control (VSC) according to the various parameters (for example, acceleration/accel and the yaw-rate on wheel velocity, steering angle, the vehicle body vertical and horizontal) that detected and measured by various sensor (not shown).
Hybrid power ECU 70 is configured to microprocessor, and this microprocessor comprises the ROM 74 of CPU 72, storage processing program, temporarily stores the RAM 76 of data and not shown input/output port and the not shown communication port that goes out.Hybrid power ECU 70 receives various inputs via input port: from the ignition signal of ignition lock (fire switch) 80, from the shift pattern SP of the shift pattern sensor 82 that detects gear-shift lever 81 current locations, from the accelerator opening Acc of the accelerator pedal position sensor 84 of the tread-on quantity of measuring acceleration pedal 83, from the brake pedal position BP of the brake pedal position sensor 86 of the tread-on quantity of measuring brake pedal 85 with from the vehicle velocity V of car speed sensor 87.As previously mentioned, hybrid power ECU 70 communicate by letter via communication port and Engine ECU 24, electrical motor ECU 40, battery ECU 52 and braking ECU 95, with to Engine ECU 24, electrical motor ECU 40, battery ECU 52 with brake various control signals of ECU 95 input and output and data.
The motor vehicle driven by mixed power 20 of Gou Zao present embodiment calculates the torque request Tr that will output to as the gear ring axle 32 of axle drive shaft based on the observed value of vehicle velocity V and accelerator opening Acc (it is corresponding to the tread-on quantity of driver to acceleration pedal 83) like this * Driving engine 22 and electrical motor MG1 and MG2 are subjected to operating control to export and the torque request Tr that is calculated to gear ring axle 32 *Corresponding demand motive force level.One of torque conversion drive mode, charge-discharge drive mode and motor drive mode are optionally carried out in the operation control of driving engine 22 and electrical motor MG1 and MG2.The operation of torque conversion drive mode control driving engine 22 is with output and demand motive force amount of power on level terms, drive simultaneously and control motor MG1 and MG2 so that carry out torque conversion and output to gear ring axle 32 by power distribution integrated mechanism 30 and electrical motor MG1 and MG2 from whole power of driving engine 22 outputs.The operation of charge-discharge drive mode control driving engine 22, add the amount of power that to battery 50 charging is consumed or the electric power amount sum that battery 50 discharged supplied equates with output and demand motive force level, drive simultaneously and control motor MG1 and MG2, so that carry out torque conversion and output to gear ring axle 32 by power distribution integrated mechanism 30 and electrical motor MG1 and MG2, simultaneously to battery 50 chargings or make battery 50 discharges from all or part of power that equals the demand motive force level of driving engine 22 output.The operation of motor drive mode shutting engine down 22, and driving and control motor MG2 will output to gear ring axle 32 with demand motive force amount of power on level terms.
Below a series of control operations in the braking procedure of motor vehicle driven by mixed power 20 of structure are as mentioned above described.Fig. 3 and Fig. 4 illustrate the diagram of circuit with the control of braking routine of Preset Time interval (for example, every several milliseconds) execution by hybrid power ECU 70.
When the control of braking routine shown in the diagram of circuit of Fig. 3 or Fig. 4 begins, the CPU 72 of hybrid power ECU 70 at first imports the required various data of control, promptly from the accelerator opening Acc of accelerator pedal position sensor 84, from the brake pedal position BP of brake pedal position sensor 86, from the rotational speed N m2 of the vehicle velocity V of car speed sensor 87, electrical motor MG2, as to battery 50 electrically-charged settings (step S100) of allowing the duty limited import Win and the speed change request marks Fsc of level of power.Receive the rotational speed N m2 of electrical motor MG2 from electrical motor ECU 40 by communication.Set the duty limited import Win of battery 50 according to the current state-of-charge SOC of temperature and battery 50, and receive the duty limited import Win of battery 50 by communication from battery ECU 52.Speed change request marks Fsc detects routine (not shown, it is carried out to detect the speed change state of change-speed box 60 between Lo gear and Hi gear individually by hybrid power ECU70) by speed change and sets, and is deposited with in the predetermined storage area.The specific procedure of setting speed change request marks Fsc is in the present embodiment determined speed change state and the vehicle velocity V and the torque request Tr of change-speed box 60 in advance in the mode of experiment and analysis *Variation relation between (wherein, on the occasion of the expression driving torque, negative value is represented braking torque), and determined variation relation is detected contrast figure as speed change state be stored among the ROM 74.Detecting contrast figure by the reference speed change state comes corresponding to given vehicle velocity V and given torque request Tr *Specify the speed change state of change-speed box 60.Speed change state based on specified change-speed box 60, when the speed change state that does not require change-speed box 60 (converter speed ratio) changes, speed change request marks Fsc is set at 0, and when the speed change state that requires change-speed box 60 (converter speed ratio) changes, speed change request marks Fsc is set at 1.Figure 5 illustrates the example that speed change state detects contrast figure.The speed change state detection contrast figure of Fig. 5 is designed to set the speed change curve that is used for effectively being carried out by electrical motor MG2 energy regeneration.Speed change state at Fig. 5 detects among the contrast figure, by considering the operation of electrical motor MG2 is controlled at the requirement of its maximum possible rotating speed or the rotating speed below the maximum possible rotating speed, when vehicle velocity V increases to or surpass preset vehicle speed Vhi (corresponding to the rotating speed more lower slightly than maximum possible rotating speed), no matter torque request (braking torque) Tr *Value how, all the speed change state with change-speed box 60 is set at the Hi gear.
After step S100 input data,, will wait that the braking torque that outputs to gear ring axle 32 or axle drive shaft requires Tr based on accelerator opening Acc or the brake pedal position BP of input and the vehicle velocity V of input of input *Be set at the required braking torque (step S110) of motor vehicle driven by mixed power 20.Braking torque requirement Tr is set in the present embodiment *Specific procedure be in advance braking torque to be required Tr *Require that as braking torque figure is set with respect to the variation relation of accelerator opening Acc or brake pedal position BP and vehicle velocity V and be stored among the ROM 74, require to be provided with figure from this braking torque then and read with given accelerator opening Acc or given brake pedal position BP and the given corresponding braking torque of vehicle velocity V and require Tr *Fig. 6 shows the example that the braking torque requirement is provided with figure.CPU 72 judges then whether the speed change request marks Fsc in step S100 input equals 1 (step S120).The change that this judges the expression request or does not ask the speed change state (converter speed ratio) of change-speed box 60.In the following description, this requirement is meant " speed change request ".When speed change request marks Fsc equals 0 expression when not having the speed change request, CPU 72 detects the current speed change state (step S130) of change-speed boxs 60.When the current speed change state of change-speed box 60 is set at the Lo gear, regeneration rate " k " is set at predetermined value k1 (step S140).Regenerative brake torque and braking torque that regeneration rate " k " expression is provided by electrical motor MG2 require Tr *Ratio.This ratio is equivalent to by the braking force of brake unit 90 generations and the ratio of regenerative brake power.In the scope of value k1 between 0 and 1, and be set at the recovery of kinetic energy maximum that in the available energy regeneration range of electrical motor MG2, makes motor vehicle driven by mixed power 20.CPU 72 is subsequently with the rotating speed of target Ne of driving engine 22 *With target torque Te *Be set at 0 (step S150), with the operation of shutting engine down 22.CPU 72 is set to the low speed of expression Lo gear than GLo (step S160) with the speed ratio Gr of change-speed box 60 then.
By braking torque is required Tr *Calculate tentative motor torque Tm2tmp (step S170) with the product of the regeneration rate of setting at step S140 " k " divided by the speed ratio Gr of change-speed box 60.By the duty limited import Win of battery 50 is come the torque limitation Tmin (step S180) of calculating motor MG2 divided by the rotational speed N m2 of the electrical motor MG2 that imports in step S100.Be restricted to the torque instruction Tm2 that the torque limitation Tmin that calculates at step S180 sets electrical motor MG2 by fixing tentatively motor torque Tm2tmp then *(step S190).Limit setting torque instruction Tm2 like this *Make electrical motor MG2 in the scope of the duty limited import Win of battery 50, to export regenerative brake torque.Torque instruction Tm1 with electrical motor MG1 *Be set at and equal 0 (step S200).At the torque instruction Tm1 that sets electrical motor MG1 and MG2 *And Tm2 *Afterwards, CPU 72 calculates the front wheel brake torque request Tbf that treats to be applied to by brake unit 90 front- wheel 39a and 39b *With treat that the trailing wheel braking torque that is applied to trailing wheel 39c and 39d by brake unit 90 requires Tbr *(step S210).Calculate front wheel brake torque request Tbf *Require Tbr with the trailing wheel braking torque *Be to require Tr with predetermined front and back braking torque allotment ratios " d " and from braking torque *The regenerative brake torque (=Tm2 that provides by electrical motor MG2 is provided *Gr) product of the value of gained and intended conversion coefficient Gb is the basis.Aforementioned product representation torque request Tr *In treat the component that applies by brake unit 90.In the present embodiment, front and back braking torque allotment ratio " d " shows torque request Tr *In the ratio of the braking torque to trailing wheel 39c and 39d to be applied in the component treating to apply by brake unit 90.Front and back braking torque allotment ratio " d " are set at equal ratio D, because transfer device 34 is basically with D: ratio (1-D) will output to the power distribution of gear ring axle 32 and be delivered to rear propeller shaft 36 and front propeller shaft 35.Pre-determine convesion factor Gb, be converted to the torque that outputs to front- wheel 39a and 39b and trailing wheel 39c and 39d will wait the braking torque that outputs to gear ring axle 32 or axle drive shaft.
At the rotating speed of target Ne that sets driving engine 22 *With target torque Te *, electrical motor MG1 and MG2 torque instruction Tm1 *And Tm2 *, and front wheel brake torque request Tbf *Require Tbr with the trailing wheel braking torque *Afterwards, CPU 72 is with the rotating speed of target Ne of driving engine 22 *With target torque Te *Send to Engine ECU 24, with the torque instruction Tm1 of electrical motor MG1 and MG2 *And Tm2 *Send to electrical motor ECU 40, and with front wheel brake torque request Tbf *Require Tbr with the trailing wheel braking torque *Send to braking ECU 95 (step S220), and repeating step S100 and a series of processing afterwards thereof.Engine ECU 24 receiving target rotational speed N e *With target torque Te *, and carry out desired control to realize that driving engine 22 is with rotating speed of target Ne *With target torque Te *Operation.Electrical motor ECU 40 receives torque instruction Tm1 *And Tm2 *, and carry out the switch control of on-off element included in corresponding inverter 41 and 42 so that electrical motor MG1 can be with torque instruction Tm1 *Operation, electrical motor MG2 can be with torque instruction Tm2 *Operation.Braking ECU 95 receives front wheel brake torque request Tbf *Require Tbr with the trailing wheel braking torque *, and the operation of control brake actuator 92 is so that based on front wheel brake torque request Tbf *Friction braking torque (1/2Tbf *) can be applied to front- wheel 39a and 39b, require Tbr based on the trailing wheel braking torque *Friction braking torque (1/2Tbr *) can be applied to trailing wheel 39c and 39d.
On the other hand, Fsc equals 0 when the speed change request marks, expression is not when having the speed change request (step S120) of change-speed box 60, and the current speed change state of change-speed box 60 is set at the value k2 littler than predetermined value k1 (step S230) with regeneration rate " k " when being set at Hi gear (step S130).CPU 72 is subsequently with the target torque Te of driving engine 22 *Be set at 0, and by the rotating speed of target Ne with reference to contrast figure (not shown) setting and the corresponding driving engine 22 of vehicle velocity V *, so that driving engine 22 can be to keep operation (step S240) with the corresponding independent rotation speed of vehicle velocity V under the situation that does not have substantial torque output certainly.The converter speed ratio Gr of change-speed box 60 is set to the high speed of expression Hi gear then than Ghi (step S250).As mentioned above, CPU 72 is then based on torque request Tr *And regeneration rate " k " is set the torque instruction Tm1 of electrical motor MG1 and MG2 *And Tm2 *And front wheel brake torque request Tbf *Require Tbr with the trailing wheel braking torque *(step S170 to S210), and the analog value of setting sent to Engine ECU 24, electrical motor ECU 40 and braking ECU 95 (step S220).The Hi gear of in change-speed box 60, setting, driving engine 22 does not stop, but to keep certainly with the corresponding independent rotation speed of vehicle velocity V.This has guaranteed favourable acceleration capability, makes after loosen the brake 85 pressing down of acceleration pedal 83 to be required propulsive effort from driving engine 22 rapid outputs in response to the driver.
When the speed change request marks Fsc in step S100 place input equals 1, when being illustrated in step S120 the speed change request being arranged, can expect that the speed change state (converter speed ratio) of change-speed box 60 will change subsequently.In the case, the setting value (step S260) of CPU 72 input marking F1, F2 and F3, and in the diagram of circuit of Fig. 4 the value (step S270) of check mark F1, F2 and F3.Flag F 1, F2 and F3 are illustrated in the execution in step in the process that the speed change state of change-speed box 60 changes subsequently, and are set at 0 respectively when detecting the speed change request.Be right after after step S120 detects the speed change request, will be at the torque instruction Tm2 of that electrical motor MG2 that sets constantly *(last time setting value) is stored in (step S280) among the RAM 76 as storing value Tset.In order to make regenerative brake torque to reduce gradually, torque instruction Tm2 *Be updated to storing value Tset and given torque Δ T1 (relative less on the occasion of) sum (step S290).CPU 72 is set at flag F 11 (step S300) then, and carries out foregoing step S200 and processing afterwards thereof.Given torque Δ T1 sets the smooth change of the braking torque of guaranteeing that the regenerative brake torque that produced at the execution interval electrical motor MG2 of control of braking routine and brake unit 90 are applied for.Given torque Δ T1 depends on the performance of electrical motor MG2, brake actuator 92, brake disc and change-speed box 60.At step S300 flag F 1 is set under 1 the situation, at the next cycle of control of braking routine, only flag F 1 equals 1 in step S270 marker for determination F1 to F3.In the case, also reduce gradually, will fix tentatively motor torque Tm2tmp and be set at given torque Δ T1 and torque instruction Tm2 in order to ensure regenerative brake torque *Last time setting value sum (step S310).Then by fixing tentatively that motor torque Tm2tmp is restricted to limits value " 0 " and to torque instruction Tm2 *Upgrade (step S320).Judge the torque instruction Tm2 upgraded subsequently *Whether equal 0 (step S330).As the torque instruction Tm2 that has upgraded *Be not equal at 0 o'clock, CPU 72 carries out foregoing step S200 and processing afterwards thereof.On the other hand, as the torque instruction Tm2 that upgrades at step S320 *Equal at 0 o'clock, CPU 72 is set at 1 (step S340) with flag F 2, and carries out foregoing step S200 and processing afterwards thereof.
The processing of repeating step S200 to S220 under the situation of execution in step S280 to S300 and step S310 to S330 as mentioned above.Determine to require Tr with respect to braking torque by the regenerative brake torque that electrical motor MG2 produces *Ratio and the braking torque that applies by brake unit 90 require Tr with respect to braking torque *Ratio, with along with torque instruction Tm2 *When carrying out the control of braking routine, realize that regenerative brake torque increases gradually under the situation of increase given torque Δ T1, the Tr of braking torque requirement simultaneously at every turn *In treat that the component that is applied by brake unit 90 has increased the product of given torque Δ T1 and convesion factor Gb gradually.As shown in Figure 7, the regenerative brake torque that is produced by electrical motor MG2 is braked the braking torque replacement of unit 90 gradually, and finally reaches 0.In this process, will come the braking torque of brake unit 90 is distributed with front and back braking torque allotment ratio " d ", and it will be outputed to front- wheel 39a and 39b and trailing wheel 39c and 39d.In the diagram of curves of Fig. 7, solid line is illustrated in regenerative brake torque that speed change state produces by electrical motor MG2 when the Hi gear changes to the Lo gear and is braked the situation that braking torque that unit 90 produces replaces.The regenerative brake torque that is produced by electrical motor MG2 when the single-point line is illustrated in speed change state from the Lo gear change to the Hi gear is braked the situation of the braking torque replacement of unit 92 generations.From these curves, can know and understand, when the Hi gear that is set to littler value k2 from regeneration rate " k " in speed change state changes to the Lo gear, compare regenerative brake torque (the torque instruction Tm2 that when step S260 begins to carry out, produces during from the Lo gear change to the Hi gear by electrical motor MG2 with speed change state *) littler.Thereby when the Hi gear changed to the Lo gear, by step S260 and processing afterwards thereof, it was littler to wait to be braked the torque that the braking torque of unit 90 replaces in speed change state.The Hi gear lower at the converter speed ratio of change-speed box 60 requires Tr with regenerative brake torque with respect to braking torque *Ratio set than littler (promptly at the regeneration rate " k " of Lo gear, littler regeneration rate " k "), even when owing to the changing condition of brake unit 90 with when making the braking force that is applied to each wheel 39a to 39d have some to change over time, this has also advantageously reduced to replace at the braking torque with brake unit 90 difference of front and back total brake torque of the regenerative brake torque of electrical motor MG2.In the braking procedure of motor vehicle driven by mixed power 20, shown in the contrast figure of Fig. 5, speed change state is higher to the trend of the higher Lo gear of the converter speed ratio of change-speed box 60 from the lower Hi gear change of the converter speed ratio of change-speed box 60.To require Tr with respect to braking torque at the regenerative brake torque at Hi gear place *Ratio set than regeneration rate " k " little (that is, littler regeneration rate " k ") at Lo gear place, be favourable for the level and smooth change of the speed change state of change-speed box 60.In the diagram of curves of Fig. 7, treat that the component of the braking torque that applied by brake unit 90 is converted into the torque that is applied to gear ring axle 32.
By above-described a series of processing flag F 1 and F2 are being set under 1 the situation, are equaling 1 at step S270 and S350 marker for determination F1 and flag F 2, flag F 3 equals 0.Begin the variable speed operation (step S360) of change-speed box 60 then in this stage.When the speed change state with change-speed box 60 is set to the Hi gear, the variable speed operation release the brake B1 of step S360 and engage brake B2.On the other hand, when the speed change state with change-speed box 60 is set to the Lo gear, the variable speed operation engage brake B1 of step S360 and release the brake B2.Judge then whether the variable speed operation of change-speed box 60 finishes (step S370).At the variable speed operation of judging change-speed box 60 imperfect tense, CPU 72 carries out foregoing step S200 and later processing thereof.On the other hand, when the variable speed operation of judging change-speed box 60 was finished, CPU 72 was set at 1 (step S380) with flag F 3, and carries out foregoing S200 and processing afterwards thereof.The variable speed operation of step S360 is at engage brake B2 (in speed change state when the Hi gear changes to the Lo gear) gradually under the situation of release the brake B1, perhaps engage brake B1 (in speed change state when the Lo gear changes to the Hi gear) again after release the brake B1 and B2.This has reduced the transmission of torque rate of change-speed box 60, and can cause torque shock ends owing to omitting braking torque (regenerative brake torque) under without any the situation of specific countermeasure.Yet in the motor vehicle driven by mixed power 20 of present embodiment, before the variable speed operation of step S360 began, the regenerative brake torque that is produced by electrical motor MG2 was reduced to zero gradually.Thereby the variable speed operation of change-speed box 60 causes almost very little torque shock ends.This speed change of having guaranteed change-speed box 60 is extremely level and smooth.In the variable speed operation process, braking torque requires Tr *It is satisfied fully to be braked the braking torque that unit 90 applies.To distribute by the braking torque that brake unit 90 applies with front and back braking torque allotment ratios " d ", and it is outputed to front- wheel 39a and 39b and trailing wheel 39c and 39d.
Finish and flag F 3 is set at after 1 at the variable speed operation of change-speed box 60, all equal 1 at step S350 marker for determination F1, F2 and F3.In the case, increase gradually, will fix tentatively motor torque Tm2tmp and be set at from torque instruction Tm2 in order to ensure regenerative brake torque *Last time setting value deduct given torque Δ T2 (on the occasion of) resulting value (step S390).Motor torque T2mtmp is restricted to the storing value Tset of limits value under the conduct and the product of convesion factor " q " comes torque instruction Tm2 by fixing tentatively then *Upgrade (step S400).With convesion factor " q " give into the speed ratio before change-speed box 60 speed changes divided by the product of the regeneration rate after the value of the speed ratio after change-speed box 60 speed changes and change-speed box 60 speed changes divided by the value of change-speed box 60 speed changes regeneration rate before.Judge the torque instruction Tm2 upgraded subsequently *Whether equal the product (step S410) of storing value Tset and convesion factor " q ".As the torque instruction Tm2 that has upgraded at step S400 *When being not equal to the product of storing value Tset and convesion factor " q ", CPU 72 carries out foregoing step S200 and processing afterwards thereof.On the other hand, as the torque instruction Tm2 that upgrades at step S400 *When equaling the product of storing value Tset and convesion factor " q ", CPU 72 is set at 0 (step S420) with all flag F 1, F2 and F3 and speed change request marks Fsc, and carries out foregoing step S200 and processing afterwards thereof.The processing of repeating step S200 to S220 under the situation of carrying out aforesaid step S390 to S420.Determine to require Tr with respect to braking torque by the regenerative brake torque that electrical motor MG2 produces *Ratio and the braking torque that applies by brake unit 90 require Tr with respect to braking torque *Ratio, with along with torque instruction Tm2 *Reduce given torque Δ T2 and realize that regenerative brake torque increases gradually when the execution of each control of braking routine, braking torque requires Tr simultaneously *In treat that the component that is applied by brake unit 90 has reduced the product of given torque Δ T2 and convesion factor Gb gradually.Thereby the braking torque of brake unit 90 is replaced by the regenerative brake torque of electrical motor MG2 gradually.In this process, distribute with the braking torque of front and back braking torque allotment ratios " d ", and it is outputed to front- wheel 39a and 39b and trailing wheel 39c and 39d brake unit 90.T2 sets the execution interval of guaranteeing in the control of braking routine for the given torque Δ, changes smoothly by the regenerative brake torque of electrical motor MG2 generation with by the braking torque that brake unit 90 applies.Given torque Δ T2 depends on the performance of electrical motor MG2, brake 92, brake disc and change-speed box 60.
As mentioned above, the motor vehicle driven by mixed power 20 of present embodiment is equipped with and regenerative brake torque at least can be outputed to the electrical motor MG2 of gear ring axle 32 and can press down the brake unit 92 that brake pedal 85 irrespectively independently is applied to braking torque front- wheel 39a and 39b and is applied to trailing wheel 39c and 39d with the driver via change-speed box 60.Will by driving engine 22 and electrical motor MG2 output to gear ring axle 32 or axle drive shaft power be assigned to front propeller shaft 35 and rear propeller shaft 36 by means of transfer device 34.Motor vehicle driven by mixed power 20 thereby to output to front- wheel 39a and 39b respectively and to output to the power driven of trailing wheel 39c and 39d.(for example brake solicit operation in response to the driver, the driver presses down brake pedal 85), the motor vehicle driven by mixed power 20 of present embodiment is set regeneration rates " k " (step S140 or step S230), and determines that according to the set condition of the converter speed ratio (speed ratio) of change-speed box 60 regenerative brake torque of electrical motor MG2 requires Tr with respect to braking torque *Ratio and the braking torque of brake unit 90 require Tr with respect to braking torque *Ratio (step S280, S290, S310, S320, S390 and S400).Motor vehicle driven by mixed power 20 then control motor MG2 to guarantee based on braking torque requirement Tr *With the output of the regenerative brake torque of the ratio of determined regenerative brake torque, control brake unit 90 will require Tr based on braking torque simultaneously *Be applied to front- wheel 39a and 39b and trailing wheel 39c and 39d (step S170 to S220) with the braking torque of the regenerative brake torque that produces by electrical motor MG2 with predetermined front and back braking torque allotment ratio " d ".As mentioned above, the regenerative brake torque of setting electrical motor MG2 according to the set condition of the converter speed ratio of change-speed box 60 requires Tr with respect to braking torque *Ratio and the braking torque of brake unit 90 require Tr with respect to braking torque *Ratio.In the braking procedure of motor vehicle driven by mixed power 20, exist under the situation of speed change request of change-speed box 60 (step S120), such setting has reduced the difference of total brake torque before and after speed change state (converter speed ratio) changes effectively, and has guaranteed the level and smooth change (step S360) of the speed change state of change-speed box 60.The braking torque that is applied by brake unit 90 depends on braking torque Tr *With the regenerative brake torque of the MG2 of electrical motor, and distribute, and output to front- wheel 39a and 39b and trailing wheel 39c and 39d with front and back braking torque allotment ratio " d ".Such control has advantageously reduced the variation that braking torque distributes between front- wheel 39a and 39b and trailing wheel 39c and 39d before and after the speed change state of change-speed box 60 changes, and has kept good deceleration and stopping performance thus.Technology of the present invention makes it possible to drive motor vehicle driven by mixed power 20 to output to front- wheel 39a and 39b respectively with the power that outputs to trailing wheel 39c and 39d, optimize the control of braking of the motor vehicle driven by mixed power 20 that is equipped with electrical motor MG2 simultaneously, wherein this electrical motor MG2 has the ability via change-speed box 60 output regenerative brake torques.
In the motor vehicle driven by mixed power 20 of present embodiment, the power that will output to gear ring axle 32 basically is assigned to rear propeller shaft 36 with ratio D, and (1-D) is assigned to front propeller shaft 35 with ratio.Front and back braking torque allotment ratio " d " are set for equal ratio D (it is the power distribution ratio of transfer device 34) and guaranteed can not make deceleration and stopping performance good under the situation of control of braking complicated operation.Before and after braking torque apportionment ratios " d " can be steady state value, perhaps can be variable alternatively according to the rotation speed change of the rotating speed of front propeller shaft 35 and rear propeller shaft 36.The control of braking program of a modification can be assigned to front- wheel 39a and 39b and trailing wheel 39c and 39d with constant or variable front and back braking torque allotment ratio " d " with braking torque, and based on the wheel velocity of each wheel 39a to 39d friction brake force is applied to each wheel 39a to 39d independently.
In the motor vehicle driven by mixed power 20 of present embodiment, when changing, determine that the regenerative brake torque of electrical motor MG2 requires Tr with respect to braking torque in the speed change request of the change-speed box 60 of step S120 in the speed change state (converter speed ratio) of expection change-speed box 60 *Ratio and the braking torque of brake unit 90 require Tr with respect to braking torque *Ratio, to realize reducing gradually of regenerative brake torque, the increase gradually (step S280, S290, S310 and S320) of the braking torque of brake unit 90 simultaneously.Export in the process of regenerative brake torque in response to driver's braking solicit operation at electrical motor MG2, the maximum possible of regenerative brake torque partly is braked the braking torque replacement of unit 90 before actual change of speed change state of step S360 change-speed box 60.Such control has advantageously reduced the actual change of speed change state of change-speed box 60 and the variation (torque shock ends) of the braking force that causes.
Regenerative brake torque with electrical motor MG2 in the actual change process of speed change state of step S360 change-speed box 60 requires Tr with respect to braking torque *Ratio be set at 0, this is changed and the change (torque shock ends) of the braking force that causes has bigger effect by speed change state reducing.Yet it is not crucial in the process that the speed change state of change-speed box 60 changes the ratio of regenerative brake torque being set at 0.As long as can realize necessary and enough restrictions, just can in the speed change state change process of change-speed box 60, allow the regenerative brake torque of electrical motor MG2 output certain level to torque shock ends.
Speed change state is higher to the trend of the higher Lo gear of the converter speed ratio of change-speed box 60 from the lower Hi gear change of the converter speed ratio of change-speed box 60.The Hi gear lower at the converter speed ratio of change-speed box 60 requires Tr with regenerative brake torque with respect to braking torque *Ratio set than at the regeneration rate " k " little (being littler regeneration rate " k ") of Lo gear, the variation of total brake torque before and after the braking torque that this regenerative brake torque that has reduced electrical motor MG2 effectively is braked unit 90 replaces.This has advantageously guaranteed the smooth change of the speed change state of change-speed box 60.The converter speed ratio of replacement change-speed box 60 is more little just to require Tr with regenerative brake torque with respect to braking torque *Ratio set more for a short time, even the Hi gear place that the control of braking program of a modification can converter speed ratio be lower in the braking procedure of motor vehicle driven by mixed power 20 is also with regeneration rate " k " value of being fixed to k1.When the speed change state of expection change-speed box 60 changed, the program of modification can change to regeneration rate " k " setting value the littler value k2 of ratio k 1.
As described below, the staple of present embodiment can be corresponding with the main composition key element of claim of the present invention.In the structure of present embodiment, be equivalent to " primary shaft " of the present invention and " second " with trailing wheel 39c and 39d bonded assembly rear propeller shaft 36 via preceding differential gear 37 and front- wheel 39a and 39b bonded assembly front propeller shaft 35 with via back differential gear 38.The driving engine 22 that outputs power to gear ring axle 32 or axle drive shaft is corresponding to " combustion engine " of the present invention.Transfer device 34 with the power that will output to gear ring axle 32 is delivered to front propeller shaft 35 and rear propeller shaft 36 in the mode of distributing ability is corresponding to " power distribution transmission mechanism " of the present invention.At least regenerative brake power is outputed to electrical motor MG2 as the gear ring axle 32 of the output shaft of electrical motor MG2 corresponding to " electrical motor " of the present invention.Power transmission is equivalent to " electricity accumulating unit " of the present invention to electrical motor MG2 with from the battery 50 of electrical motor MG2 transferring electric power.Power can be equivalent to " speed change transferring structure " of the present invention along with the change-speed box 60 of the change of converter speed ratio transferring power between the rotating shaft 33 of electrical motor MG2 and gear ring axle 32.Have the brake unit 90 that braking solicit operation with the driver irrespectively independently is applied to braking force the ability of front- wheel 39a and 39b and trailing wheel 39c and 39d and be equivalent to " stop mechanism " of the present invention.The hybrid power ECU 70 of the control of braking routine of execution graph 3 and Fig. 4 is corresponding to " required braking force setting module " of the present invention and " the braking ratio is set module ".The hybrid power ECU 70 of the control of braking routine of execution graph 3 and Fig. 4 is combined corresponding to " brake controller " of the present invention with electrical motor ECU 40 and braking ECU 95.The combination of electrical motor MG1 and power distribution integrated mechanism 30 is equivalent to " electric machinery power in-out box " of the present invention.That electrical motor MG1 and power distribution integrated mechanism 30 are equivalent to respectively is of the present invention " electrical motor of generating usefulness " and " triple axle power input/output structure ".
" combustion engine " is not limited to receive the driving engine 22 of the supply of the hydrocarbon fuel such as gasoline or light oil with outputting power, and can be the driving engine (for example, hydrogen engine) of any kind." power distribution transmission mechanism " is not limited to comprise the center differential of planetary gear system and the transfer device 34 of differential restraint device, and can be the power that outputs to default axle drive shaft can be delivered to two out-of-alignment any structures in the mode of distributing." electrical motor " is not limited to regenerative brake power is at least outputed to the electrical motor MG2 of gear ring axle 32 or axle drive shaft via " the speed change transferring structure " that resemble change-speed box 60, and can be the electrical motor that regenerative brake power at least can be outputed to the primary shaft that resembles front propeller shaft 35 via " speed change transferring structure " and resemble any structure of any one among second of rear propeller shaft 36." electrical motor " is not limited to resemble the motor-alternator the electrical motor MG2, and can be the electrical motor of any kind, for example, and induction motor (IM)." electricity accumulating unit " is not limited to resemble the secondary battery of battery 50, and can be the electric storage means (for example, cond) that power delivery can be passed in and out any kind of electrical motor." speed change transferring structure " is not limited to have the change-speed box 60 (Lo gear and Hi gear) of two friction speed shelves, and can be can be along with the change-speed box of change any structure of transferring power between the output shaft of shaft of motor and electrical motor of converter speed ratio, for example, the step change transmission that has three or more friction speed shelves." stop mechanism " is not limited to braking force independently to be applied to the brake unit 90 of each wheel, and can be any brake structure that can irrespectively braking force independently be applied to front-wheel and trailing wheel with driver's braking solicit operation." required braking force setting module " is not limited to set braking torque requirement Tr based on brake pedal position BP and other related factors *, and can be any setting of the driver being braked the required required braking force of solicit operation, for example, set braking torque based on master cylinder pressure and require Tr *" brake controller " is not limited to the combination of hybrid power ECU 70, electrical motor ECU 40 and braking ECU 95, and can be the combination of single electronic control unit or any other single controller or controller, its control " electrical motor " output is based on the regenerative brake power of default required braking force and default regenerative brake force rate rate, and control " stop mechanism " simultaneously makes the braking force based on the regenerative brake power of default required braking force and " electrical motor " to be applied to front-wheel and trailing wheel in the mode of distributing according to predetermined front and back allotment ratio." electric machinery power in-out box " is not limited to the combination of electrical motor MG1 and power distribution integrated mechanism 30, and can be any other structure, for example, and pair-rotor motor." motive power outputting apparatus " is not limited to be installed on " vehicle " that resembles motor vehicle driven by mixed power 20, and can be installed in various automobiles and other vehicle and other moving body (such as naval vessels and boats and ships and aerocraft) any one, perhaps can be arranged in any one of fixed equipment resemble the Architectural Equipment.The above-mentioned corresponding relation of the main composition key element of the staple of present embodiment and claim of the present invention is nonrestrictive in all senses, only is indicative to describe the mode of the present invention that realizes particularly.That is, above-described embodiment can think indicative and nonrestrictive in all respects.Scope and spirit of the present invention are represented by claim, rather than are represented by above description.
Above-described present embodiment and modified example thereof are thought n-lustrative in all respects and are nonrestrictive.Under the situation of scope that does not break away from principal character of the present invention or spirit, many modifications, variation and replacement can be arranged.
The disclosed full content (comprising specification sheets and accompanying drawing and claim) of the Japanese patent application No.2007-28349 that submits on February 7th, 2007 is contained in this by reference.

Claims (17)

1. vehicle, described vehicle drives with the power that outputs to front-wheel and trailing wheel respectively, and described vehicle comprises:
Primary shaft, it is connected with described front-wheel;
Second, it is connected with described trailing wheel;
Combustion engine, it outputs power to predetermined axle drive shaft;
The power distribution transmission mechanism, its power that will output to described axle drive shaft is delivered to described primary shaft and described second in the mode of distributing;
Electrical motor, its will be at least regenerative brake power output to the output shaft of described electrical motor, described output shaft is described axle drive shaft, described primary shaft and one of described second;
Electricity accumulating unit, its with power transmission to described electrical motor and from described electrical motor transferring electric power;
The speed change transferring structure, its change that can be accompanied by converter speed ratio between the described output shaft of described shaft of motor and described electrical motor comes transferring power;
Stop mechanism, it can irrespectively be applied to braking force described front-wheel and described trailing wheel independently with driver's braking solicit operation;
Required braking force is set module, and it sets described driver's the required required braking force of braking solicit operation;
The braking ratio is set module, it is when the braking solicit operation that described driver is arranged, according to the set condition of the described converter speed ratio of described speed change transferring structure, set braking force that the regenerative brake power that provided by described electrical motor provides with respect to the ratio of the described required braking force that sets with by described stop mechanism ratio with respect to the described required braking force that sets; And
Brake controller, it controls described electrical motor with the regenerative brake power of output based on the described ratio of described required braking force that sets and the regenerative brake power that sets, controls described stop mechanism simultaneously so that the braking force of the regenerative brake power that provides based on the described required braking force that sets with by described electrical motor can be applied to described front-wheel and described trailing wheel in the mode of distributing according to allotment ratio before and after predetermined.
2. vehicle according to claim 1, wherein, described front and back allotment ratio is a fixed value.
3. vehicle according to claim 2, wherein, the transmission of power that described power distribution transmission mechanism will output to described axle drive shaft according to the allotment ratio that equates with described front and back allotment ratio in the mode of distributing arrives described primary shaft and described second.
4. vehicle according to claim 1, wherein when the change of described converter speed ratio of the described speed change transferring structure of expection, described braking ratio sets that module is provided by the described ratio of the regenerative brake power that is provided by described electrical motor and the described ratio of the braking force that provided by described stop mechanism, with reducing gradually of the regenerative brake power that realizes providing by described electrical motor, the increase gradually of the braking force that provides by described stop mechanism simultaneously.
5. vehicle according to claim 4, wherein, during the change of the described converter speed ratio of described converter speed ratio transferring structure, described braking ratio is set module regenerative brake power is set at zero with respect to the described ratio of the described required braking force that sets.
6. vehicle according to claim 1, wherein, the described converter speed ratio of described speed change transferring structure is more little, and described braking ratio is set module and just regenerative brake power is set at more little value with respect to the described ratio of the described required braking force that sets.
7. vehicle according to claim 1, wherein, described vehicle also comprises electric machinery power in-out box, described electric machinery power in-out box is connected to the axle of described axle drive shaft and described combustion engine, can making at least a portion of the outputting power of described combustion engine be delivered to described axle drive shaft by electric power and mechanokinetic input and output, and with power transmission to described electricity accumulating unit with from described electricity accumulating unit transferring electric power.
8. vehicle according to claim 7, wherein, described electric machinery power in-out box has: the electrical motor of the generating usefulness of energy input and output power; And the triple axle power input/output structure that is connected to three axles, described three axles are the described axle of described axle drive shaft, described combustion engine and the shaft of motor of described generating usefulness, and described triple axle power input/output structure is based on the power of any two axle input and output from described three axles and to remaining an axle input and output power.
9. the control method of a vehicle, described vehicle is equipped with: primary shaft, it is connected with front-wheel; Second, it is connected with described trailing wheel; Combustion engine, it outputs power to predetermined axle drive shaft; The power distribution transmission mechanism, its power that will output to described axle drive shaft is delivered to described primary shaft and described second in the mode of distributing; Electrical motor, its will be at least regenerative brake power output to the output shaft of described electrical motor, described output shaft is described axle drive shaft, described primary shaft and one of described second; Electricity accumulating unit, its with power transmission to described electrical motor and from described electrical motor transferring electric power; The speed change transferring structure, its change that can be accompanied by converter speed ratio between the described output shaft of described shaft of motor and described electrical motor comes transferring power; And stop mechanism, it can irrespectively be applied to braking force described front-wheel and described trailing wheel independently with driver's braking solicit operation,
The control method of described vehicle may further comprise the steps:
(a) the described driver's of setting the required required braking force of braking solicit operation;
(b), set braking force that the regenerative brake power that provided by described electrical motor provides with respect to the ratio of the described required braking force of setting with by described stop mechanism ratio in step (a) with respect to the described required braking force of setting in step (a) according to the set condition of the described converter speed ratio of described speed change transferring structure; And
(c) the described electrical motor of control with output based on the described required braking force of in described step (a), setting and in step (b) the regenerative brake power of the described ratio of the regenerative brake power of setting, control described stop mechanism simultaneously, so that the braking force of the regenerative brake power that provides based on the described required braking force of setting with by described electrical motor can be applied to described front-wheel and described trailing wheel in the mode of distributing according to allotment ratio before and after predetermined in described step (a).
10. the described control method of vehicle according to claim 9, wherein, the transmission of power that described power distribution transmission mechanism will output to described axle drive shaft according to the allotment ratio that equates with described front and back allotment ratio in the mode of distributing arrives described primary shaft and described second, and
The described stop mechanism of described step (c) control is so that described braking force can be applied to described front-wheel and described trailing wheel according to the described front and back allotment ratio of fixed value.
11. the control method of vehicle according to claim 9, wherein, when the change of described converter speed ratio of the described speed change transferring structure of expection, described step (b) is set the described ratio of the regenerative brake power that is provided by described electrical motor and the described ratio of the braking force that provided by described stop mechanism, with reducing gradually of the regenerative brake power that realizes providing by described electrical motor, the increase gradually of the braking force that provides by described stop mechanism simultaneously.
12. the control method of vehicle according to claim 11, wherein, during the change of the described converter speed ratio of described converter speed ratio transferring structure, described step (b) is set at zero with regenerative brake power with respect to the ratio of the described required braking force that sets.
13. the control method of vehicle according to claim 9, wherein, the described converter speed ratio of described speed change transferring structure is more little, and described step (b) just is set at more little value with described regenerative brake power with respect to the ratio of the described required braking force that sets.
14. a motive power outputting apparatus that is installed on the vehicle, described vehicle are equipped with the stop mechanism that can irrespectively braking force be applied to independently front-wheel and trailing wheel with driver's braking solicit operation,
Described motive power outputting apparatus comprises:
Primary shaft, it is connected with described front-wheel;
Second, it is connected with described trailing wheel;
Combustion engine, it outputs power to predetermined axle drive shaft;
The power distribution transmission mechanism, its power that will output to described axle drive shaft is delivered to described primary shaft and described second in the mode of distributing;
Electrical motor, its general regenerative brake power at least outputs to described axle drive shaft;
Electricity accumulating unit, its with power transmission to described electrical motor and from described electrical motor transferring electric power;
The speed change transferring structure, its change that can be accompanied by converter speed ratio between described shaft of motor and described axle drive shaft comes transferring power;
Required braking force is set module, and it sets described driver's the required required braking force of braking solicit operation;
The braking ratio is set module, it is when the braking solicit operation that described driver is arranged, according to the set condition of the described converter speed ratio of described speed change transferring structure, set braking force that the regenerative brake power that provided by described electrical motor provides with respect to the ratio of the described required braking force that sets with by described stop mechanism ratio with respect to the described required braking force that sets; And
Brake controller, it controls described electrical motor with the regenerative brake power of output based on the described ratio of described required braking force that sets and the regenerative brake power that sets, controls described stop mechanism simultaneously so that the braking force of the regenerative brake power that provides based on the described required braking force that sets with by described electrical motor can be applied to described front-wheel and described trailing wheel in the mode of distributing according to allotment ratio before and after predetermined.
15. the control method of a motive power outputting apparatus, described motive power outputting apparatus comprises: primary shaft; Second; Combustion engine, it outputs power to predetermined axle drive shaft; The power distribution transmission mechanism, its power that will output to described axle drive shaft is delivered to described primary shaft and described second in the mode of distributing; Electrical motor, its general regenerative brake power at least outputs to described axle drive shaft; Electricity accumulating unit, its with power transmission to described electrical motor and from described electrical motor transferring electric power; And speed change transferring structure, its change that can be accompanied by converter speed ratio between described shaft of motor and described axle drive shaft comes transferring power, wherein, described motive power outputting apparatus is installed on the vehicle, described vehicle be equipped with can irrespectively braking force be applied to independently with driver's braking solicit operation with described primary shaft bonded assembly front-wheel and with the stop mechanism of described second bonded assembly trailing wheel
The control method of described motive power outputting apparatus may further comprise the steps:
(a) the described driver's of setting the required required braking force of braking solicit operation;
(b), set braking force that the regenerative brake power that provided by described electrical motor provides with respect to the ratio of the described required braking force of setting with by described stop mechanism ratio in step (a) with respect to the described required braking force of setting in step (a) according to the set condition of the described converter speed ratio of described speed change transferring structure; And
(c) the described electrical motor of control with output based on the described required braking force of in described step (a), setting and in step (b) the regenerative brake power of the described ratio of the regenerative brake power of setting, control described stop mechanism simultaneously, so that the braking force of the regenerative brake power that provides based on the described required braking force of setting with by described electrical motor can be applied to described front-wheel and described trailing wheel in the mode of distributing according to allotment ratio before and after predetermined in described step (a).
16. a drive system that is installed on the vehicle, described vehicle are equipped with combustion engine, electricity accumulating unit and can irrespectively braking force be applied to independently the stop mechanism of front-wheel and trailing wheel with driver's braking solicit operation,
Described drive system comprises:
Axle drive shaft, it is connected to described combustion engine;
Primary shaft, it is connected with described front-wheel;
Second, it is connected with described trailing wheel;
The power distribution transmission mechanism, its power that will output to described axle drive shaft is delivered to described primary shaft and described second in the mode of distributing;
Electrical motor, it can be with power transmission to described electricity accumulating unit and from described electricity accumulating unit transferring electric power, and regenerative brake power outputs to described axle drive shaft at least;
The speed change transferring structure, its change that can be accompanied by converter speed ratio between described shaft of motor and described axle drive shaft comes transferring power;
Required braking force is set module, and it sets described driver's the required required braking force of braking solicit operation;
The braking ratio is set module, it is when the braking solicit operation that described driver is arranged, according to the set condition of the described converter speed ratio of described speed change transferring structure, set braking force that the regenerative brake power that provided by described electrical motor provides with respect to the ratio of the described required braking force that sets with by described stop mechanism ratio with respect to the described required braking force that sets; And
Brake controller, it controls described electrical motor with the regenerative brake power of output based on the described ratio of described required braking force that sets and the regenerative brake power that sets, controls described stop mechanism simultaneously so that the braking force of the regenerative brake power that provides based on the described required braking force that sets with by described electrical motor can be applied to described front-wheel and described trailing wheel in the mode of distributing according to allotment ratio before and after predetermined.
17. the control method of a drive system, described drive system is installed on the vehicle, described vehicle is equipped with combustion engine, electricity accumulating unit and can irrespectively braking force be applied to independently the stop mechanism of front-wheel and trailing wheel with driver's braking solicit operation, described drive system comprises: axle drive shaft, and it is connected to described combustion engine; Primary shaft, it is connected with described front-wheel; Second, it is connected with described trailing wheel; The power distribution transmission mechanism, its power that will output to described axle drive shaft is delivered to described primary shaft and described second in the mode of distributing; Electrical motor, it can be with power transmission to described electricity accumulating unit and from described electricity accumulating unit transferring electric power, and regenerative brake power outputs to described axle drive shaft at least; And the speed change transferring structure, its change that can be accompanied by converter speed ratio between described shaft of motor and described axle drive shaft comes transferring power;
The control method of described drive system may further comprise the steps:
(a) the described driver's of setting the required required braking force of braking solicit operation;
(b), set braking force that the regenerative brake power that provided by described electrical motor provides with respect to the ratio of the described required braking force of setting with by described stop mechanism ratio in step (a) with respect to the described required braking force of setting in step (a) according to the set condition of the described converter speed ratio of described speed change transferring structure; And
(c) the described electrical motor of control with output based on the described required braking force of in described step (a), setting and in step (b) the regenerative brake power of the described ratio of the regenerative brake power of setting, control described stop mechanism simultaneously, so that the braking force of the regenerative brake power that provides based on the described required braking force of setting with by described electrical motor can be applied to described front-wheel and described trailing wheel in the mode of distributing according to allotment ratio before and after predetermined in described step (a).
CN2008100048005A 2007-02-07 2008-02-13 Vehicle and control method thereof, power output apparatus and control method thereof, and driving system and control method thereof Expired - Fee Related CN101239588B (en)

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JP4228085B2 (en) 2009-02-25

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